| Robot teaching is a widely used method for robot control. The traditional robot teaching wasusually carried out by teaching pendant, which usually turned out to be tedious and low efficiency. Anew direct hands on teaching method which was carried out by real-time calculation andcompensation for the torque needed to balance joint gravity and friction was proposed and carried outin the paper. The main content reads as follows:1）After a detailed analysis of how to realize the direct teaching and replaying on the3R robotverification platform. A DSP and FPGA based robot controller hardware platform which integrateboth robot control and motor drive together was planned and designed. Each functional moduleneeded for the controller and the PI regulator for current loop control were developed within theFPGA, which can reduce the computational task of the DSP effectively. All of these provided a lowcost, highly integrated and all digital solution for robot teaching control and replay control.2）A new direct teaching control thinking which was carried out by direct torque control toovercome the joint gravity torque and the joint friction torque was proposed. The direct teachingcontrol algorithm was studied. A gravity and friction self-measurement program together with how torealize it in engineering were also developed. Teaching control experiment validated the feasibilityand effectiveness of the torque control based direct teaching control thinking.3）In order to improve the trajectory control accuracy of replay, a research on robot positioncontrol algorithm was carried out. By theoretical analysis and experimental verification, a compositecontrol algorithm, which consist PID, speed feed-forward, disturbance observer, accelerationfeed-forward was designed as the final position control algorithm. Trajectory tracking controlexperiment and replay control experiment showed that the designed composite algorithm can obtainwell trajectory replay control accuracy. |
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